WO1990009699A1 - Procede de commande de moteurs a courant alternatif - Google Patents

Procede de commande de moteurs a courant alternatif Download PDF

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Publication number
WO1990009699A1
WO1990009699A1 PCT/JP1990/000166 JP9000166W WO9009699A1 WO 1990009699 A1 WO1990009699 A1 WO 1990009699A1 JP 9000166 W JP9000166 W JP 9000166W WO 9009699 A1 WO9009699 A1 WO 9009699A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
angle
current command
phase
speed
Prior art date
Application number
PCT/JP1990/000166
Other languages
English (en)
Japanese (ja)
Inventor
Shinichi Kono
Hironobu Takhashi
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Priority to EP90902823A priority Critical patent/EP0413032B1/fr
Priority to DE69023833T priority patent/DE69023833T2/de
Publication of WO1990009699A1 publication Critical patent/WO1990009699A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/03—Synchronous motors with brushless excitation

Definitions

  • the present invention relates to a method for controlling an AC motor that can prevent or reduce output torque fluctuation of the motor during low-speed operation.
  • a control device for an AC motor that calculates a current command for each phase based on the obtained data is known.
  • a vector control device for driving and controlling a three-phase induction motor shown in FIG. 4 is known. ing.
  • the vector control processor (not shown) reads the speed command Vc read from the program (not shown) and the actual rotational speed ⁇ of the three-phase induction motor 6.
  • the torque command T is generated by amplifying the deviation from the actual speed ⁇ r detected by a single speed detector PC for detecting r with the amplifier 1.
  • the torque command T is divided by the excitation magnetic flux command ⁇ from the element 8 to obtain the secondary current command I2.
  • the proportional constant K2 and the secondary current command 1 2 The slip frequency ⁇ s is calculated by dividing the product of and by the excitation flux command ⁇ .
  • the slip frequency s and the actual speed ⁇ ⁇ ⁇ are added by the adder 11 to calculate the primary current phase 0, and the exciting magnetic flux command ⁇ is divided by the proportional constant K1 in the element 9 to obtain the exciting current component I 0 I'm asking. Further, the current calculation circuit 3 determines the primary current command I1 based on the exciting current component I0 and the secondary current command I2.
  • the three-phase converter 4 has a memory in which sine data of each phase for each angle region of the primary current phase 0 is stored in a table, and the memory is stored in accordance with the input primary current phase angle 0.
  • the current controller 5 controls the current so that the deviation between the actual current of each phase detected by each of the current detectors CTU, CTV, and CTW and the current commands I ⁇ , IV, and IW becomes zero. It is also known that the current command of the remaining one phase is calculated using the current commands of the two phases calculated based on the sine data of the two phases stored in the memory of the three-phase converter 4. It has been done.
  • the sine data changes stepwise as the primary current phase angle 0 changes.
  • each phase current command changes stepwise, causing torque fluctuations, and especially when the motor is running at a low speed, the torque fluctuations become apparent.
  • An object of the present invention is to provide an output torque of an AC motor during low-speed operation.
  • An object of the present invention is to provide a control method of an AC motor that can prevent or reduce the fluctuation of the AC motor.
  • the method for controlling an AC motor according to the present invention is different from the first angle width in that the step (a) stores in advance the first current command determination data for each angle region divided by the first angle width.
  • (d) determining a current command for each phase of the AC motor based on the corresponding one of the first and second current command calculation data read out in response to the current command.
  • the first and second parameters corresponding to the actual motor rotation position detected at the first or second resolution according to the actual motor rotation speed are used.
  • the corresponding data of the first and second current command determination data is read out for each of the angle areas divided by the second angle width, and the current command of each phase of the motor is determined based on the read data.
  • the current command determination data can be updated each time the motor rotates by a small angle width.
  • the current command can be calculated with high resolution, and the motor output torque fluctuation during low-speed operation can be prevented or significantly reduced.
  • the parameter can be detected with an appropriate resolution, and therefore the stability in detecting the parameter is not impaired.
  • FIG. 1 is a schematic diagram showing a part of a main part of a control device to which a control method according to an embodiment of the present invention is applied
  • FIG. 2 is a low-speed motor of the device shown in FIG. Diagram showing switching of the resolution for detecting the motor speed and calculating the current command between operation and high-speed operation.
  • Fig. 3 is based on the actual motor speed in the device in Fig. 1.
  • FIG. 4 is a flowchart showing a part of software processing for calculating a current command
  • FIG. 4 is a schematic diagram showing a vector control device of a conventional three-phase induction motor. It is a circuit diagram.
  • the control device for implementing the control method of the AC motor according to one embodiment of the present invention may have basically the same configuration as the device shown in FIG. 4, and elements 1 to 3 in FIG. , 8 and 9 respectively (not shown).
  • the control device of this embodiment includes first and second position detectors (pulse coder) PC 1 and PC 2 having different resolutions in position detection. 2 and the processor (not shown) of the control device has first and second tables T 1 and T 2 having different resolutions for calculating the current command. And the functions of the switches SW1 and SW2, and the first pulse coder PC1 and the first pulse coder PC1 in cooperation with these switches.
  • the function of the switching means 20 for selecting the combination of the pulse coder PC 2 and the second table T 2 and the function of the elements 10 and 11 in FIG. 4 are provided. It has been reported.
  • an optical pulse coder in which the first and second pulse coder PCs 1 and 2 are integrated is used, and this pulse coder is also, a first and a second slit disk (not shown) are provided so as to be rotatable integrally with a rotating shaft connected to the rotating shaft of the electric motor 6.
  • the first and second slit disks have first and second slits for detecting the motor rotation position at the first and second resolutions (for example, normal resolution and high resolution), respectively.
  • the motor 6 functions as each of the first and second pulse coder PC1, ⁇ C2, the motor 6 is turned off. The first number of pulses and the second number of pulses larger than this are transmitted during one rotation.
  • the first and second tables ⁇ 1, ⁇ 2 correspond to the first and second nodes, respectively, and the codercoders PC 1, PC 2, respectively, and both tables ⁇ 1, ⁇ 2 2 stores the sine data of each phase for each angle region of the primary current phase 0, which is divided by the first and second angular widths ⁇ 0 2, respectively.
  • B-number in the second angular width not small even Ri by the second in the tape over table T 2 a first angular width (e.g., 1 0 XA number) c below that is divided into second
  • a first angular width e.g., 1 0 XA number
  • a flag for storing the flag information F1 that is built into the processor of the control device together with the various registers described below and indicates the type of the pulse coder currently used The register is initialized to the value "0J", after which the process of FIG. 3 is periodically executed by the processor.
  • the processor sends the secondary current command I2 calculated in the same way as in Fig. 4 to the register R (12 ) (Step S 1), and the flag F 1 is the first node. It is determined whether or not the value indicating the use of the coder PC1 is “1” (step S2). Immediately after the power is turned on, the result of determination in step S2 is negative, so the flow proceeds to step S3 to determine whether the actual motor speed N is equal to or higher than the predetermined speed NQ. Is determined. If the predetermined speed N0 has not been reached, the ratio BZA of the numbers A and B of the angle areas in the first and second tables Tl and ⁇ 2 is raised to the slip constant K2.
  • the slip constant K2 set in accordance with the number A of areas in the first table T1 is converted into a value when the second table T2 is used.
  • the calculated value K 2 -B ZA is used as a slip constant K 2
  • a register R (K 2) is used (step S 4).
  • the processor multiplies the value obtained by multiplying the secondary current command I2 read from the registers R (12) and R (K2) by the slip constant K2.
  • the slip frequency ⁇ s is calculated by dividing the excitation magnetic flux command ⁇ obtained in the same manner as in the case of Fig. 4, and the calculated value ⁇ 2
  • the result is stored in the register R ( ⁇ s) (step S9).
  • the processor outputs the pulse signals sent from the first and second pulse coders PC 1 and PC 2 until the motor 6 reaches the rotation position in the current processing cycle.
  • the total number FP1 and FP2 is read (step S10), and it is determined whether or not the value of the flag F is "1" indicating the use of the first pulse coder PC1. (Step S11). If the flag F is not “1”, a register indicating the total number of pulses FP 2 transmitted from the second pulse coder PC 2 up to the rotation position reached in the previous processing cycle. Evening V 2 (FP 2) is subtracted from the total number of pulses FP 2 read in step S 10 to calculate the actual motor rotation speed ⁇ ⁇ ⁇ (Step S12). Next, the total number of pulses F ⁇ 1 and F ⁇ 2 read in step S10 are stored in registers Vl (FP1) and V2 (FP2), respectively (step S10). 1 3) o
  • the processor calculates the primary current phase angle 0 stored in the register R ( ⁇ ) in the previous cycle by using the phase data and the steps S9 and S12, respectively.
  • the value is updated to the sum (0 + ⁇ s + ⁇ r) of the slip frequency ⁇ s and the motor rotation speed ⁇ r (step SI4).
  • the sine data sine, sin ( ⁇ -2 ⁇ 3, sin () of each phase corresponding to the angular region of the primary current phase ⁇ to which the phase angle belongs 0-4 w- / 3) from the second table T 2, and then multiplies the obtained primary current command I 1 by the respective sine data as in the case of FIG. Things
  • each phase current command I ⁇ , IV, IW is calculated (step S15).
  • step S2 If the motor speed N becomes equal to or higher than the predetermined speed NO with the increase in the speed command Vc, the result of the determination in step S2 in the processing cycle immediately after reaching the predetermined speed NO is still obtained. In the negative, the use of the second pulse coder PC2 is determined, and the result of the determination in step S3 is affirmative.
  • the processor switches from the low speed operation mode using the combination of the second pulse coder PC2 and the second table T2 to the first pulse coder PC1.
  • step S 5 first access the second table T 2.
  • the first table is obtained by multiplying the phase angle 0 stored in the register R ( ⁇ ) by the ratio A / B immediately before reaching the predetermined speed NO (previous processing cycle).
  • Phase to access T 1 Converts the angle to angle 0 and angle B, and updates the value stored in register R (0) to this calculated value.
  • the register R (K) corresponding to the slip constant K2 ( K2B / A) used to calculate the phase angle for accessing the second table T2.
  • the stored value of 2) is updated to the slip constant K2 used for calculating the phase angle for accessing the first table T1.
  • the flag information F having a value "1" indicating the use of the first pulse coder PC1 is set in the flag register.
  • step S11 which has passed through steps S9 and S10 described above in step S5
  • the processor generates a register representing the total number of pulses FP1 'transmitted from the first pulse coder PC1 up to the rotation position reached in the previous processing cycle.
  • the actual motor rotation speed ⁇ r is calculated by subtracting the stored value of the motor V 1 (FP 1) from the total number of pulses FP 1 read in step S 10 (step S 10).
  • step S17 corresponding to step S13, the pulse numbers FP1 and FP2 are stored in registers Vl (FPl) and V2 (FP2), respectively.
  • step S18 corresponding to step S14
  • the slip frequency and the rotational speed ⁇ ⁇ calculated in steps S9 and S16 are used.
  • the phase angle 0 calculated in step S5 is updated.
  • step S 19 the processor determines the angle of the primary current phase 0 to which the phase angle belongs according to the updated phase angle 0.
  • Sine data sin0, sin of each phase corresponding to each area ( ⁇ -2 ⁇ / 3) and sin (0-4 ⁇ / 3) are read from the first table T 1, and the phase current commands ⁇ IV, IV, Iff are calculated based on the sine data I do.
  • steps S1, S2, S6, S7, S9 to S11, and S16 to S19 are repeatedly executed, and the motor 6 operates at the actual speed.
  • the combination of the high-resolution second pulse coder PC 2 and the second table T 2, respectively, provides the first pulse coder PC 1 with normal resolution.
  • the first table T 1 As a result, the actual motor speed ⁇ r is detected stably, and the current command is calculated based on the sine data of the required resolution, so that the output torque of the motor 6 does not fluctuate.
  • Step S8 processing for shifting from the high-speed operation mode to the low-speed operation mode is performed. That is, the phase angle 0 recorded in the register R ( ⁇ ) in the previous processing cycle is updated to the product of the phase angle and the ratio B / A of 0 ⁇ BZA, and the register R (K 2 ) Is updated to the product ⁇ ⁇ 2 ⁇ ⁇ / of this constant and the ratio BZA, and the value “0” indicating the use of the second pulse coder PC 2 Set the flag information F in the flag memory. Then Steps S9 to S11 and S12 to S15 are executed. In the subsequent processing cycle, the above series of steps S1 to S4, S9 to S11, and SI2 SS 15 is repeatedly executed.
  • control method of the AC motor of the present invention is not limited to the above embodiment, and various modifications are possible.
  • the present invention is applied to a three-phase induction motor and a vector control type control device.
  • the present invention is applied to an AC motor and a vector control other than the three-phase induction motor.
  • the present invention can be applied to control devices other than those of the type.
  • the combination of the PC2 and the second table T2 are selectively used has been described, the same number of the three or more position detectors (speed detectors) are used. The corresponding one of the tables can be used selectively.

Abstract

Un procédé de commande d'un moteur à courant alternatif permet d'éviter ou de diminuer des oscillations du couple de sortie du moteur à courant alternatif lorsque celui-ci fonctionne à de faibles vitesses. Lorsque le moteur électrique (6) fonctionne à faible vitesse, une combinaison de valeurs fournies par un deuxième codeur d'impulsions (PC2) qui détecte la position angulaire du moteur (6) avec une résolution élevée et par une deuxième table (T2) de données sinusoïdales de détermination d'instructions de courant avec une résolution élevée est sélectionée par un processeur qui comprend un organe commutateur (20) et des commutateurs (SW1, SW2). Des données sinusoïdales concernant chaque phase sont lues dans une deuxième table selon l'angle de phase () d'un courant primaire du moteur déterminé sur la base de la vitesse réelle de rotation du moteur, détectée selon le nobre d'impulsions (FP2) fournies par le deuxième codeur d'impulsions. Le moteur est commandé sur la base des instructions de courant de phases calculées sur la base de ces données avec une résolution élevée, ce qui permet d'éviter des oscillations du couple de sortie du moteur.
PCT/JP1990/000166 1989-02-14 1990-02-09 Procede de commande de moteurs a courant alternatif WO1990009699A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP90902823A EP0413032B1 (fr) 1989-02-14 1990-02-09 Procede de commande de moteurs a courant alternatif
DE69023833T DE69023833T2 (de) 1989-02-14 1990-02-09 Regelverfahren für gleichstrommotoren.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1032878A JPH02214496A (ja) 1989-02-14 1989-02-14 交流電動機の制御方式
JP1/32878 1989-02-14

Publications (1)

Publication Number Publication Date
WO1990009699A1 true WO1990009699A1 (fr) 1990-08-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1990/000166 WO1990009699A1 (fr) 1989-02-14 1990-02-09 Procede de commande de moteurs a courant alternatif

Country Status (5)

Country Link
US (1) US5099185A (fr)
EP (1) EP0413032B1 (fr)
JP (1) JPH02214496A (fr)
DE (1) DE69023833T2 (fr)
WO (1) WO1990009699A1 (fr)

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JP3483740B2 (ja) * 1997-08-29 2004-01-06 株式会社東芝 洗濯機
US6121745A (en) * 1997-10-02 2000-09-19 Warner Electric Technology, Inc. Direct current command generation for a stepper motor drive
DE60332280D1 (de) 2003-01-30 2010-06-02 Ballado Invest Inc Synchronmotor dessen ströme bei hoher drehzahl mit einem einzigen hallsensor gesteuert werden
DE10346680C5 (de) * 2003-10-08 2010-04-01 Siemens Ag Verfahren zur Erhöhung der Regeldynamik einer mit einer Antriebswelle eines Direktantriebes angetriebenen Last
JP4904996B2 (ja) * 2006-08-28 2012-03-28 セイコーエプソン株式会社 ブラシレスモータ
US7944165B1 (en) * 2008-05-02 2011-05-17 Wd Media, Inc. Inspection system with dual encoders
DE102012009191B4 (de) 2011-06-20 2018-02-22 Sew-Eurodrive Gmbh & Co Kg Verfahren und Vorrichtung zur zyklischen digitalen Übertragung eines Positionswertes eines bewegten Objektes mit träger Masse

Citations (1)

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JPS61107165A (ja) * 1984-10-30 1986-05-26 Mitsubishi Electric Corp 電動機の速度検出装置

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JPS6038954B2 (ja) * 1980-12-30 1985-09-03 ファナック株式会社 誘導電動機駆動方式
US4544873A (en) * 1982-04-29 1985-10-01 Otis Elevator Company Elevator polyphase motor control
JPS6194581A (ja) * 1984-10-15 1986-05-13 Fuji Electric Co Ltd 位置決め制御方式
JPH0729252B2 (ja) * 1986-01-17 1995-04-05 東芝機械株式会社 主軸位置決め装置
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Title
See also references of EP0413032A4 *

Also Published As

Publication number Publication date
DE69023833D1 (de) 1996-01-11
JPH02214496A (ja) 1990-08-27
DE69023833T2 (de) 1996-04-18
EP0413032A1 (fr) 1991-02-20
US5099185A (en) 1992-03-24
EP0413032A4 (en) 1993-01-20
EP0413032B1 (fr) 1995-11-29

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